UPDATE:
SOLVED. Was my bad: a wrong mix in my Tx that created an extrange behaviour. All the procedure described below is correct. I leave it for interest to others.
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I´m testing for first time CAN with the new ESC32 (version "ESC32v20r49") and DIMU v1.1
The connection done is shown in the figure below. I´ve set ESC32 to ESC_ID =1.I´ve asigned MOT_CAN = 1 in QGC parameters page and the mixing table on Motor A, ID=1, Thrust = 100, P,R,Y = 0. Comunication console has show
"ESC32: CAN ID: 1, ver: 2.0.0 "
Working well